Author

Antonio Terpin

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Preprint Oct 2026

Contact-based optimization for collision-free motion planning for a million robots

Multi-agent robotic systems have attracted growing interest in recent years, with applications ranging from coordinated drone shows to autonomous operations on land, in the air, and on water. At the planning level, robot motion is often modeled using double-integrator dynamics (with low-level controllers handling the p...

Jane A. Kamm, Antonio Terpin, Raffaello D'Andrea · 0 citations

#artificial intelligence Preprint Dec 2025

Privileged observations enable rapid and reliable policy discovery directly in the physical world

This paper studies how privileged information about a physical system affects the discovery of high-performing policies when training a reinforcement learning agent directly in the physical world, and proves that privileged observations can be decisive for policy discovery even when the resulting actions can be replaye...

Antonio Terpin, Raffaello D'Andrea · 3 citations